Image processing device, image processing method, and computer program product

Abstract

According to one embodiment, an image processing device includes an action plan formulation module and a projection shape determination module. The action plan formulation module generates, based on action plan information of a moving body, first information including planned self-position information of the moving body and position information of a peripheral three-dimensional object based on the planned self-position information. The projection shape determination module determines, based on the first information, a shape of a projection surface on which a first image acquired by an imaging device mounted on the moving body is projected to generate a bird's-eye view image.

What is claimed is: 
     
         1 . An image processing device comprising:
 an action plan formulation module configured to generate, based on action plan information of a moving body, first information including planned self-position information indicating a planned self-position of the moving body and position information of a peripheral three-dimensional object based on the planned self-position information; and   a projection shape determination module configured to determine, based on the first information, a shape of a projection surface on which a first image acquired by an imaging device mounted on the moving body is projected to generate a bird's-eye view image.   
     
     
         2 . The image processing device according to  claim 1 , wherein the action plan formulation module is configured to generate the first information based on second information and the action plan information, the second information including position information of a peripheral three-dimensional object of the moving body and position information of the moving body. 
     
     
         3 . The image processing device according to  claim 2 , wherein the second information includes information generated by VSLAM processing using a second image around the moving body. 
     
     
         4 . The image processing device according to  claim 3 , wherein the first image includes an image different from the second image. 
     
     
         5 . The image processing device according to  claim 2 , wherein the second information includes information generated by SLAM processing using data acquired from at least one external sensor. 
     
     
         6 . The image processing device according to  claim 2 , further comprising a control information generation module configured to generate third information concerning control of the moving body based on the action plan information of the moving body and the second information, wherein the moving body is controlled based on the third information. 
     
     
         7 . The image processing device according to  claim 1 , wherein the projection shape determination module is configured to determine the shape of the projection surface based on distance information between position information of the peripheral three-dimensional object and the planned self-position. 
     
     
         8 . The image processing device according to  claim 7 , wherein the projection shape determination module is configured to determine the shape of the projection surface based on the peripheral three-dimensional object at a position closest to the planned self-position of the moving body. 
     
     
         9 . An image processing method executed by a computer, the method comprising:
 generating, based on action plan information of a moving body, first information including planned self-position information indicating a planned self-position of the moving body and position information of a peripheral three-dimensional object based on the planned self-position information; and   determining, based on the first information, a shape of a projection surface on which a first image acquired by an imaging device mounted on the moving body is projected to generate a bird's-eye view image.   
     
     
         10 . A computer program product including programmed instructions embodied in and stored on a non-transitory computer readable medium, the instructions, when executed by a computer, causing the computer to perform:
 generating, based on action plan information of a moving body, first information including planned self-position information indicating a planned self-position of the moving body and position information of a peripheral three-dimensional object based on the planned self-position information; and   determining, based on the first information, a shape of a projection surface on which a first image acquired by an imaging device mounted on the moving body is projected to generate a bird's-eye view image.